del-geo-core 0.1.38

2D/3D geometry utility codes
Documentation 
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//! methods for 2x3 matrix used for affine transformation especially for Gaussian splatting

pub fn mult_vec3<Real>(a: &[Real; 6], b: &[Real; 3]) -> [Real; 2]
where
    Real: num_traits::Float,
{
    [
        a[0] * b[0] + a[2] * b[1] + a[4] * b[2],
        a[1] * b[0] + a[3] * b[1] + a[5] * b[2],
    ]
}

pub fn mult_mat3_col_major<Real>(a: &[Real; 6], b: &[Real; 9]) -> [Real; 6]
where
    Real: num_traits::Float,
{
    [
        a[0] * b[0] + a[2] * b[1] + a[4] * b[2],
        a[1] * b[0] + a[3] * b[1] + a[5] * b[2],
        a[0] * b[3] + a[2] * b[4] + a[4] * b[5],
        a[1] * b[3] + a[3] * b[4] + a[5] * b[5],
        a[0] * b[6] + a[2] * b[7] + a[4] * b[8],
        a[1] * b[6] + a[3] * b[7] + a[5] * b[8],
    ]
}

pub fn vec3_from_mult_transpose_vec2(a: &[f32; 6], v: &[f32; 2]) -> [f32; 3] {
    [
        a[0] * v[0] + a[1] * v[1],
        a[2] * v[0] + a[3] * v[1],
        a[4] * v[0] + a[5] * v[1],
    ]
}

pub fn transform_ndc2pix(img_shape: (usize, usize)) -> [f32; 6] {
    [
        0.5 * (img_shape.0 as f32),
        0.,
        0.,
        -0.5 * (img_shape.1 as f32),
        0.5 * (img_shape.0 as f32),
        0.5 * (img_shape.1 as f32),
    ]
}

pub fn mult_mat3x2_col_major<Real>(a: &[Real; 6], b: &[Real; 6]) -> [Real; 4]
where
    Real: num_traits::Float,
{
    [
        a[0] * b[0] + a[2] * b[1] + a[4] * b[2],
        a[1] * b[0] + a[3] * b[1] + a[5] * b[2],
        a[0] * b[3] + a[2] * b[4] + a[4] * b[5],
        a[1] * b[3] + a[3] * b[4] + a[5] * b[5],
    ]
}

pub fn transpose<Real>(a: &[Real; 6]) -> [Real; 6]
where
    Real: num_traits::Float,
{
    [a[0], a[2], a[4], a[1], a[3], a[5]]
}